CN112496780A - Direct-drive rotary table of five-axis numerical control machine tool - Google Patents
Direct-drive rotary table of five-axis numerical control machine tool Download PDFInfo
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- CN112496780A CN112496780A CN202011086520.0A CN202011086520A CN112496780A CN 112496780 A CN112496780 A CN 112496780A CN 202011086520 A CN202011086520 A CN 202011086520A CN 112496780 A CN112496780 A CN 112496780A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/28—Electric drives
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- Mechanical Engineering (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The invention discloses a direct-drive rotary table of a five-axis numerical control machine tool, which comprises a B shaft assembly and a C shaft assembly, wherein the B shaft assembly and the C shaft assembly are respectively provided with a magneto-rheological damping mechanism; the magnetorheological damping mechanism comprises a damping shaft, an outer cylinder, an electromagnetic coil and an electromagnetic coil control system, the damping shaft is coaxially sleeved on the outer cylinder in a rotating fit manner, a sealed space filled with magnetorheological fluid is formed between the outer cylinder and the damping shaft, and the electromagnetic coil is positioned outside the outer cylinder and used for generating a magnetic field acting on the magnetorheological fluid in the sealed space; a plurality of damping rods are fixedly arranged on the outer circle of the damping shaft; the invention utilizes the property of the magnetorheological fluid to form damping for the main shaft of the B shaft component and the main shaft of the C shaft component when the main shafts are close to the target position parameters, reduces the rotating inertia of the main shafts close to the target position, reduces the working strength of the locking mechanism, prolongs the service cycle of the locking mechanism, can eliminate the position deviation caused by the rotating inertia under the condition of friction locking to a greater extent, ensures the position precision of the rotary table and finally ensures the processing precision.
Description
Technical Field
The invention relates to a machine tool, in particular to a five-axis linkage system.
Background
The five-axis linkage equipment belongs to the common equipment in the numerical control machine tool and is used for processing parts with complex structures; in order to ensure the final machining precision, a high-speed direct-connected main shaft and a servo system are generally configured, a ball screw and a linear guide rail are arranged in the direction of X, Y, Z, the servo motor is used for direct stepless speed change driving, a B, C rotating shaft adopts the servo motor to form a direct-drive turntable, and the stable precision and the high-dynamic and static characteristics can be basically ensured.
The direct-drive rotary table is an important component of a five-axis numerical control machine tool, and the rotation and stop locking states of the direct-drive rotary table directly influence the machining precision of parts; in the prior art, the direct-drive turntable comprises a shaft B assembly and a shaft C assembly, wherein the shaft B assembly drives a shaft B main shaft to rotate and enables a swing arm to swing through a shaft B driving motor, so that the shaft C assembly is driven to swing, and the shaft C assembly drives a shaft C main shaft to rotate and drives a worktable to rotate through a shaft C driving motor; when the workbench reaches the target position, the locking is required to complete the processing of the parts; in the prior art, the locking of the B-axis spindle and the C-axis spindle usually adopts mechanical, hydraulic and pneumatic locking, and no matter what locking mode, the friction brake principle is adopted, namely, the process from rotation to direct stop of the spindle is required to have higher precision, and the process is also an important process influencing the processing precision of parts. After long-term friction braking, the friction pairs have abrasion of different degrees, and the abrasion can cause certain deviation between braking response and a target position, so that the machining precision of the machine tool is reduced; further, a locking mode in which locking is simply formed by friction cannot eliminate positional deviation of rotational inertia under a friction locking condition, and even if there is no wear, particularly high positional accuracy cannot be ensured.
Therefore, the rotary table of the existing five-axis machining system is improved on the whole, the working strength of the locking mechanism is reduced, the service cycle of the locking mechanism is prolonged, the position deviation caused by the rotation inertia under the friction locking condition can be eliminated to a greater extent, the position precision of the rotary table is ensured, and the machining precision is finally ensured.
Disclosure of Invention
In view of this, the invention aims to provide a direct-drive rotary table of a five-axis numerical control machine, which reduces the working strength of a locking mechanism, thereby prolonging the service cycle of the locking mechanism, eliminating the position deviation of the rotation inertia under the friction locking condition to a greater extent, ensuring the position precision of the rotary table, and finally ensuring the machining precision.
The direct-drive turntable of the five-axis numerical control machine tool comprises a B-axis component and a C-axis component, wherein the B-axis component and the C-axis component are respectively provided with a magneto-rheological damping mechanism;
the B shaft assembly comprises a B shaft driving motor, a B shaft main shaft driven by the B shaft driving motor and a B shaft locking mechanism, and the C shaft assembly comprises a C shaft driving motor, a C shaft main shaft driven by the C shaft driving motor and a C shaft locking mechanism;
the magneto-rheological damping mechanism comprises a damping shaft, an outer barrel, an electromagnetic coil and an electromagnetic coil control system, the damping shaft is coaxially sleeved on the outer barrel in a rotating fit manner, a sealed space filled with magneto-rheological fluid is formed between the outer barrel and the damping shaft, and the electromagnetic coil is positioned outside the outer barrel and used for generating a magnetic field acting on the magneto-rheological fluid in the sealed space; a plurality of damping rods are fixedly arranged on the outer circle of the damping shaft;
the damping shaft of the magnetorheological damping mechanism of the B shaft assembly is in transmission fit with the B shaft main shaft; and the damping shaft of the magnetorheological damping mechanism of the C shaft assembly is in transmission fit with the C shaft main shaft.
Further, the electromagnetic coil control system comprises a detection unit, a control unit and an electromagnetic coil circuit, wherein the detection unit is used for detecting the rotation parameters of the B-axis main shaft and the C-axis main shaft, and the control unit is used for receiving the rotation parameters and sending commands for opening, closing or adjusting the magnetic field of the electromagnetic coil to the electromagnetic coil circuit according to the rotation parameters.
Further, a B-axis tail shaft is arranged in transmission fit with the B-axis main shaft, and the damping shaft of the magnetorheological damping mechanism of the B-axis assembly and the B-axis tail shaft are integrally formed; and a C-shaft tail shaft is arranged in transmission fit with the C-shaft main shaft, and the damping shaft of the magnetorheological damping mechanism of the C-shaft assembly and the C-shaft tail shaft are integrally formed.
Further, the rotation parameters include a rotation speed and a rotation angle.
Further, the locking mechanism is a pneumatic locking mechanism.
Further, the process of the control unit adjusting the magnetic field of the electromagnetic coil is as follows:
and gradually increasing the magnetic field of the electromagnetic coil in the process that the rotary table approaches the target position and reaches the target position.
Further, a rotor of the B-axis driving motor is sleeved on the B-axis main shaft in a transmission fit mode, the B-axis tail shaft is coaxially and fixedly connected to the tail end of the B-axis main shaft, and a detection unit of a magnetorheological damping mechanism of the B-axis assembly is arranged on the B-axis tail shaft;
the rotor of the C-axis driving motor is sleeved on the C-axis main shaft in a transmission fit mode, the C-axis tail shaft is coaxially and fixedly connected to the tail end of the C-axis main shaft, and the detection unit of the magnetorheological damping mechanism of the C-axis assembly is arranged on the C-axis tail shaft.
Furthermore, the damping rods extend along the radial direction and are uniformly distributed and fixed on the excircle of the damping shaft.
The invention has the beneficial effects that: the invention relates to a direct-drive rotary table of a five-axis numerical control machine tool, which utilizes the property of magnetorheological fluid to form damping when a main shaft of a shaft B assembly and a main shaft of a shaft C assembly are near target position parameters, reduces the rotation inertia of the main shafts near the target position, reduces the working strength of a locking mechanism, thereby prolonging the service cycle of the locking mechanism, eliminating the position deviation caused by the rotation inertia under the condition of friction locking to a greater extent, ensuring the position precision of the rotary table and finally ensuring the processing precision.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of FIG. 1A;
FIG. 3 is an enlarged view of FIG. 1B;
FIG. 4 is a control schematic of the magnetorheological damping mechanism;
FIG. 5 is a schematic view of the assembled structure of the present invention;
FIG. 6 is an enlarged view of FIG. 5 at C;
FIG. 7 is a first vector view of the present invention;
fig. 8 is a second view of the present invention.
Detailed Description
Fig. 1 is a schematic structural diagram of the present invention, fig. 2 is an enlarged view of fig. 1A, fig. 3 is an enlarged view of fig. 1B, and fig. 4 is a control schematic diagram of a magnetorheological damping mechanism, as shown in the drawings: the direct-drive turntable of the five-axis numerical control machine tool comprises a shaft B assembly and a shaft C assembly, wherein the shaft B assembly and the shaft C assembly are respectively provided with a magneto rheological damping mechanism;
the B shaft assembly comprises a B shaft driving motor 11, a B shaft main shaft 12 driven by the B shaft driving motor 11 and a B shaft locking mechanism 14, and the C shaft assembly comprises a C shaft driving motor 21, a C shaft main shaft 22 driven by the C shaft driving motor 21 and a C shaft locking mechanism 24;
the locking mechanism is a structure used for forming braking and releasing the main shaft during normal rotation, belongs to a conventional mechanism of a turntable, and is not described again;
of course, the shaft assembly B and the shaft assembly C should further include a series of components such as a housing, a protective cover, a bearing, etc., which are all related to the existing design of the turntable, and those skilled in the art should know the basic structure of the turntable in the prior art, and therefore, the structure of the turntable and the connection relationship of the components will not be described herein again.
As shown in fig. 1 and 2, the magnetorheological damping mechanism of the B-axle assembly comprises a damping axle 1303, an outer barrel 1302, an electromagnetic coil 1301 and an electromagnetic coil control system, wherein the damping axle 1303 is coaxially and rotatably sleeved on the outer barrel 1302, a sealed space 1304 filled with magnetorheological fluid is formed between the outer barrel 1302 and the damping axle 1303, and the electromagnetic coil 1301 is positioned outside the outer barrel 1302 and is used for generating a magnetic field acting on the magnetorheological fluid in the sealed space 1304; a plurality of damping rods 1305 are fixedly arranged on the outer circle of the damping shaft 1303;
as shown in fig. 3, the magnetorheological damping mechanism of the C-axle assembly comprises a damping axle 2303, an outer cylinder 2302, an electromagnetic coil 2301 and an electromagnetic coil control system, wherein the damping axle 2303 is coaxially and rotatably sleeved on the outer cylinder 2302, a sealed space 2304 containing magnetorheological fluid is formed between the outer cylinder 2302 and the damping axle 2303, and the electromagnetic coil 2301 is located outside the outer cylinder 2302 and is used for generating a magnetic field acting on the magnetorheological fluid in the sealed space 2304; a plurality of damping rods 2305 are fixedly arranged on the outer circle of the damping shaft 2303;
therefore, the structure principles of the magnetorheological damping mechanism of the B shaft assembly and the magnetorheological damping mechanism of the C shaft assembly are basically the same, and the differences in appearance are realized in specific structures only because the rotation processes of the B shaft assembly and the C shaft assembly and the position relations of all parts are different, so that the magnetorheological damping mechanism of the B shaft assembly and the magnetorheological damping mechanism of the C shaft assembly are described by adopting a unified technical scheme in the patent and the understanding of the scheme is not influenced;
the damping shaft 1303 of the magnetorheological damping mechanism of the B shaft assembly is in transmission fit with the B shaft main shaft 12; the damping shaft 2303 of the magnetorheological damping mechanism of the C-shaft assembly is in transmission fit with the C-shaft main shaft 22;
as shown in the figure, the outer cylinder is generally formed by end covers at two ends of the cylinder, and as shown in fig. 2, the end covers are arranged at two side ends of the outer cylinder of the magnetorheological damping mechanism of the B-axis component and are closed, and the end covers are provided with through holes penetrating through the damping shaft, so that the existing sealing manner can be adopted to form sealing, and further description is omitted; in fig. 3, the inner end of the outer cylinder of the magnetorheological damping mechanism of the B-shaft assembly is closed by the B-shaft assembly, and can be realized by adopting a general mechanical structure, which is not described again.
The electromagnetic coil generates a magnetic field to enable the magnetorheological fluid to gradually become a solid state with certain toughness from a liquid state, and the damping is formed on the damping shaft, so that the damping is formed on the main shafts (the B-axis main shaft and the C-axis main shaft); when the spindle normally rotates, the electromagnetic coil is not electrified, the magnetorheological fluid is liquid, and no damping is formed on the damping shaft and the spindle; when the spindle rotates to approach a target position, the electromagnetic coil is electrified, the magnetorheological fluid is gradually viscous, the electrified strength is higher as the distance from the target position is closer, and the magnetic field strength is the maximum when the spindle finally reaches the position (of course, a stable current can be directly connected to form a magnetic field with a constant numerical value, and the damping effect is still achieved), and the spindle is locked by combining the conventional locking mechanism; the control of the magnetorheological fluid and the electromagnetic coil is prior art and will not be described herein.
In this embodiment, the electromagnetic coil control system includes a detection unit, a control unit and an electromagnetic coil circuit, the detection unit is configured to detect rotation parameters of the B-axis main shaft and the C-axis main shaft, and the control unit is configured to receive the rotation parameters and send a command to the electromagnetic coil circuit to turn on, turn off or adjust a magnetic field of the electromagnetic coil according to the rotation parameters; when the main shaft rotates to approach the target position, the control unit (which can be a controller arranged independently or can directly utilize the controller of the machine tool to realize the control purpose) sends a control command to the electromagnetic coil circuit, and the circuit is opened to form a power-on state and form damping; when the target position is reached or the circuit is normally rotated, the circuit is closed; of course, the magnitude of the current is adjusted according to the distance from the target position to form a gradually increased damping effect, and the controller controls the magnetic field of the electromagnetic coil to be switched on and off and the magnitude to be adjusted, which belongs to the prior art and is not described herein again; the detection unit detects the rotation parameters, and can directly utilize the existing sensors, encoders, gratings and the like for detecting the rotating speed and the rotating angle of the main shaft of the rotary table; of course, the above-mentioned components can be separately and additionally arranged, and are not described in detail herein.
In this embodiment, a B-axis tail shaft 15 is arranged in transmission fit with the B-axis main shaft 12, and the damping shaft 1303 of the magnetorheological damping mechanism of the B-axis assembly and the B-axis tail shaft 15 are integrally formed; a C-axis tail shaft 25 is arranged in transmission fit with the C-axis main shaft, and the damping shaft 2303 of the magnetorheological damping mechanism of the C-axis assembly and the C-axis tail shaft 25 are integrally formed; the B-axis tail shaft 15 and the C-axis tail shaft 25 both play a role in supporting and leading out a rotating signal of the main shaft, the damping shaft and the damping shaft are integrally formed, stable support and high-precision transmission can be formed, and meanwhile, the use cost and the maintenance cost are saved.
In this embodiment, the rotation parameters include a rotation speed and a rotation angle, which can be implemented by related sensing devices, and are not described herein again; the size of the magnetic field is adjusted according to the rotating speed, so that the rotating inertia can be effectively reduced; the turning angle is a key parameter for detecting the distance from the target position; the controller can control the damping degree of the magnetorheological fluid with higher precision according to the rotating speed and the rotating angle, so that the integral precision of the rotary table is ensured.
In this embodiment, the locking mechanism is a pneumatic locking mechanism, has a fast response speed and has a small internal stress; the damping of the damping mechanism is combined, and the damping mechanism are matched with each other and coordinated with each other, so that the rotating position precision of the rotary table is further ensured; pneumatic locking mechanism generally includes friction shoe, gasbag or piston and cylinder, and pressure gas acts on gasbag or piston drive friction shoe in the cylinder and rubs the braking to the main shaft stroke, and whole pneumatic locking structure belongs to prior art, and no longer gives unnecessary details here.
In this embodiment, the process of adjusting the magnetic field of the electromagnetic coil by the control unit is as follows:
and gradually increasing the magnetic field of the electromagnetic coil in the process that the rotating table approaches the target position to reach the target position, wherein the approach of the rotating table to the target position refers to the manual setting of a position, the position is electrified to generate the magnetic field to form damping, the rotating table continuously rotates to the target position, the magnetic field is gradually increased until the magnetic field is maximum when the target position is reached, and the controller closes the magnetic field circuit after the locking assisting mechanism is formed to be locked.
In this embodiment, a rotor of the B-axis driving motor is sleeved on the B-axis main shaft in a transmission fit manner, the B-axis tail shaft is coaxially and fixedly connected to the tail end of the B-axis main shaft, and the detection unit of the magnetorheological damping mechanism of the B-axis assembly is arranged on the B-axis tail shaft; of course, the main shaft, the tail shaft and the damping shaft are all provided with rotary supports, and the details are not repeated herein;
the rotor of the C-axis driving motor is sleeved on the C-axis main shaft in a transmission fit mode, the C-axis tail shaft is coaxially and fixedly connected to the tail end of the C-axis main shaft, and the detection unit of the magnetorheological damping mechanism of the C-axis assembly is arranged on the C-axis tail shaft.
In the embodiment, the damping rods extend along the radial direction and are uniformly distributed and fixed on the excircle of the damping shaft, and the uniformly distributed damping rods can form stable damping and cannot generate deflection torque.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (8)
1. A five-axis numerical control machine tool direct-drive turntable is characterized in that: the magnetorheological damper comprises a shaft B assembly and a shaft C assembly, wherein the shaft B assembly and the shaft C assembly are respectively provided with a magnetorheological damper mechanism;
the B shaft assembly comprises a B shaft driving motor, a B shaft main shaft driven by the B shaft driving motor and a B shaft locking mechanism, and the C shaft assembly comprises a C shaft driving motor, a C shaft main shaft driven by the C shaft driving motor and a C shaft locking mechanism;
the magneto-rheological damping mechanism comprises a damping shaft, an outer barrel, an electromagnetic coil and an electromagnetic coil control system, the damping shaft is coaxially sleeved on the outer barrel in a rotating fit manner, a sealed space filled with magneto-rheological fluid is formed between the outer barrel and the damping shaft, and the electromagnetic coil is positioned outside the outer barrel and used for generating a magnetic field acting on the magneto-rheological fluid in the sealed space; a plurality of damping rods are fixedly arranged on the outer circle of the damping shaft;
the damping shaft of the magnetorheological damping mechanism of the B shaft assembly is in transmission fit with the B shaft main shaft; and the damping shaft of the magnetorheological damping mechanism of the C shaft assembly is in transmission fit with the C shaft main shaft.
2. The direct-drive rotary table of the five-axis numerical control machine tool according to claim 1, characterized in that: the electromagnetic coil control system comprises a detection unit, a control unit and an electromagnetic coil circuit, wherein the detection unit is used for detecting the rotation parameters of the B-axis main shaft and the C-axis main shaft, and the control unit is used for receiving the rotation parameters and sending commands for opening, closing or adjusting the magnetic field of the electromagnetic coil to the electromagnetic coil circuit according to the rotation parameters.
3. The direct-drive rotary table of the five-axis numerical control machine tool according to claim 1, characterized in that: a B-axis tail shaft is arranged in transmission fit with the B-axis main shaft, and the damping shaft of the magnetorheological damping mechanism of the B-axis assembly and the B-axis tail shaft are integrally formed; and a C-shaft tail shaft is arranged in transmission fit with the C-shaft main shaft, and the damping shaft of the magnetorheological damping mechanism of the C-shaft assembly and the C-shaft tail shaft are integrally formed.
4. The five-axis numerical control machine tool direct-drive turntable of claim 3, characterized in that: the rotation parameters include a rotation speed and a rotation angle.
5. The five-axis numerical control machine tool direct-drive turntable of claim 3, characterized in that: the locking mechanism is a pneumatic locking mechanism.
6. The five-axis numerical control machine tool direct-drive turntable of claim 5, characterized in that: the process of the control unit in adjusting the magnetic field of the electromagnetic coil comprises the following steps:
and gradually increasing the magnetic field of the electromagnetic coil in the process that the rotary table approaches the target position and reaches the target position.
7. The five-axis numerical control machine tool direct-drive turntable of claim 5, characterized in that: the rotor of the B-axis driving motor is sleeved on the B-axis main shaft in a transmission fit mode, the B-axis tail shaft is coaxially and fixedly connected to the tail end of the B-axis main shaft, and the detection unit of the magnetorheological damping mechanism of the B-axis assembly is arranged on the B-axis tail shaft;
the rotor of the C-axis driving motor is sleeved on the C-axis main shaft in a transmission fit mode, the C-axis tail shaft is coaxially and fixedly connected to the tail end of the C-axis main shaft, and the detection unit of the magneto-rheological damping mechanism of the C-axis assembly is arranged on the C-axis tail shaft.
8. The five-axis numerical control machine tool direct-drive turntable of claim 6, characterized in that: the damping rods extend along the radial direction and are uniformly distributed and fixed on the excircle of the damping shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011086520.0A CN112496780A (en) | 2020-10-12 | 2020-10-12 | Direct-drive rotary table of five-axis numerical control machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011086520.0A CN112496780A (en) | 2020-10-12 | 2020-10-12 | Direct-drive rotary table of five-axis numerical control machine tool |
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| CN112496780A true CN112496780A (en) | 2021-03-16 |
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| CN202011086520.0A Pending CN112496780A (en) | 2020-10-12 | 2020-10-12 | Direct-drive rotary table of five-axis numerical control machine tool |
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Cited By (3)
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| CN114454002A (en) * | 2021-12-30 | 2022-05-10 | 浙江杭机股份有限公司 | Grinding device of continuous positioning type turret structure |
| CN114871790A (en) * | 2022-04-21 | 2022-08-09 | 黄山和泰汇精密科技有限公司 | Intelligent CNC machine tool based on digital control |
| CN115596767A (en) * | 2022-09-30 | 2023-01-13 | 哈尔滨工业大学（Cn） | Gas static pressure turntable with magnetic fluid damper |
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| CN115596767A (en) * | 2022-09-30 | 2023-01-13 | 哈尔滨工业大学（Cn） | Gas static pressure turntable with magnetic fluid damper |
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